System Design of A Dual-Arm Surgical Robot for Single Port Access Surgery

Quanquan Liu, Xin Zhang, Chunbao Wang, Bo Zhang, Wangfeng Shang, Zhuohua Lin, Lihong Duan, Zhengzhi Wu, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Single port access surgery (SPAS) attract much attention by taking potential advantages of fewer incisions and cosmetic therapeutic effects. Compared with multi-keyholes minimally invasive surgery (MIS), SPAS could fit through a single incision to deploy instruments for tissue manipulation. Robotic assistance SPAS is in great interest via improved precision, flexible manipulation and computer assisted. In order to perform smoothly in SPAS, dexterous surgical instruments are in urgent needs. This paper presents a surgical robot with dual arms configuration, with six degrees of freedom (DOFs) for each. The workspace of the dual-arm configuration is analyzed based on the kinematics of the orthogonal rotation joint of the surgical manipulator is calculated by using screw theory. The position accuracy experiment is performed based on the kinematical computation, and the results are promising for tissue surgical intervention. The preliminary experiment of tele-controlling the surgical manipulator for example ring transfer tasks points a way of performing SPAS by the existing designs.

Original languageEnglish
Title of host publication2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages349-354
Number of pages6
ISBN (Electronic)9781538655467
DOIs
Publication statusPublished - 2018 Nov 14
Event2018 International Conference on Intelligence and Safety for Robotics, ISR 2018 - Shenyang, China
Duration: 2018 Aug 242018 Aug 27

Publication series

Name2018 International Conference on Intelligence and Safety for Robotics, ISR 2018

Conference

Conference2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
Country/TerritoryChina
CityShenyang
Period18/8/2418/8/27

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization

Fingerprint

Dive into the research topics of 'System Design of A Dual-Arm Surgical Robot for Single Port Access Surgery'. Together they form a unique fingerprint.

Cite this